Three Dollar Quill

Another day of spotty time management. I did, however, fix all of the easy type errors around switching MOTR to using multiplexers. What remains now is the entry point that actually uses all of this. I'm going to need to make some decisions about how the data gets back out of the tasks, now that I've completely changed how it's handled inside them. This might need some new helper methods, we'll see.

Anyway, progress, that's good.

Good night.